expand

((2 s + 1)) ((4 s + 1)) ((6 s + 2)) 48 s 3 + 52 s 2 + 18 s + 2

6
KC
((2 s + 1)) ((4 s + 1)) ((6 s + 2)) simplify 3 KC

6 24 s + 26 s 2 + 9 s + 3 KC + 1
3
1 + KC
((2 s + 1)) ((4 s + 1)) ((6 s + 2))

den ((s)) 24 s 3 + 26 s 2 + 9 s + 3 KC + 1

3 KC + 1 0
coeffs , z , degree 9 1

v den ((z))
26 2
24 3

Place the co-efficients in a

matrix like the Routh table
24 9
M ((s))
26 3 K C + 1
We need the determinant to
find the element for the next
row

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 d det ((M ((s)))) 72 KC 210

72 KC 210 105 36 KC
c This is the calculation of the
26 13 13 next element

26 3 KC + 1

M ((s)) 105 36 KC
0
13 13

108 KC 2 279 KC 105

d det ((M ((s))))
13 13 13

108 K 2 279 KC 105

C

13 13 13 simplify
e 3 KC + 1 This is the next element
105 36 KC

13 13
Therefore, the entire matrix
has become From the table we can decide that (by looking at the entire 1st row)
the only term that can be negative here (for any positive Kc) is the
24 9 105 36 KC

26 3 KC + 1 13 13

105 36 K 105 36 KC solve , explicit , KC 35
C
0

13 13 Note this is the same value
13 13 12 as we found when we solved
3 KC + 1 0
by hand (105/36)

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